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<div class="title">Drivers.h</div>  </div>
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<a href="_drivers_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef DRIVERS_H_INCLUDED</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define DRIVERS_H_INCLUDED</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="class_motor_driver_interface.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_motor_driver_interface.html">MotorDriverInterface</a></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a251d0070d19b61290d73f26d1f6e4501">initialize</a>() = 0;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="class_motor_driver_interface.html#a3b61d203b4351ea4c132495aeb817086">getPosition</a>() = 0;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#aa930597d7cc15c14079b27e693727115">setCurrentAs</a>(<span class="keywordtype">float</span> newPos) = 0;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">gotoPosition</a>(<span class="keywordtype">float</span> newPos) = 0;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a69e7c7b822bcc7914a155249da4aa59d">enable</a>() = 0;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a456be25e18f028ff5dae9264228dc550">disable</a>() = 0;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a53344d16c0bb4c6c90ae7b85369eb861">home</a>(<span class="keywordtype">bool</span> goToCurrent, <span class="keywordtype">bool</span> onlyIfNotHomed) = 0;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;};</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> stepPin, <span class="keywordtype">int</span> dirPin, <span class="keywordtype">int</span> enablePin,<span class="keywordtype">bool</span> invertDir, <span class="keywordtype">bool</span> invertEnable&gt;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="class_stepper_driver.html">   38</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_stepper_driver.html">StepperDriver</a> : <span class="keyword">public</span> <a class="code" href="class_motor_driver_interface.html">MotorDriverInterface</a></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;{</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a1d13e0cfb4fb994865b87ede30fe88e0">   40</a></span>&#160;   int32_t <a class="code" href="class_stepper_driver.html#a1d13e0cfb4fb994865b87ede30fe88e0">position</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a3652ed06a18e38715b26346a2ec5ee20">   41</a></span>&#160;   int32_t <a class="code" href="class_stepper_driver.html#a3652ed06a18e38715b26346a2ec5ee20">delayUS</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#ae838bcd42cf03702990df0e65c1e65c8">   42</a></span>&#160;   <span class="keywordtype">float</span> <a class="code" href="class_stepper_driver.html#ae838bcd42cf03702990df0e65c1e65c8">stepsPerMM</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a448a080f2b6d35fae6e66bb3d7af0386">   44</a></span>&#160;    <a class="code" href="class_stepper_driver.html#a448a080f2b6d35fae6e66bb3d7af0386">StepperDriver</a>(<span class="keywordtype">float</span> _stepsPerMM,<span class="keywordtype">float</span> speed)</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        stepsPerMM = _stepsPerMM;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                position = 0;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        delayUS = 500000 / (speed * stepsPerMM);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a543614e9c9b1027364b90e821487fa74">   50</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a543614e9c9b1027364b90e821487fa74">initialize</a>() {</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(enablePin, OUTPUT);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(stepPin, OUTPUT);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(dirPin, OUTPUT);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, !invertEnable);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    }</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#ad7a5451d7933609efbb0514614fcd381">   56</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_stepper_driver.html#ad7a5451d7933609efbb0514614fcd381">getPosition</a>()</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordflow">return</span> position / stepsPerMM;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a44d4de4f1856f493e9e104072a382c74">   60</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a44d4de4f1856f493e9e104072a382c74">setCurrentAs</a>(<span class="keywordtype">float</span> newPos)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        position = floor(newPos * stepsPerMM + 0.5f);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a18057d0aea5eeb3089f63d935a4033be">   64</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a18057d0aea5eeb3089f63d935a4033be">gotoPosition</a>(<span class="keywordtype">float</span> newPos)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <a class="code" href="class_motor_driver_interface.html#a69e7c7b822bcc7914a155249da4aa59d">enable</a>();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        int32_t target = floor(newPos * stepsPerMM + 0.5f) - position;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        position += target;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordflow">if</span>(target &gt; 0) {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(dirPin, !invertDir);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            target = -target;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(dirPin, invertDir);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordflow">while</span>(target) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(stepPin, HIGH);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            <a class="code" href="class_h_a_l.html#a55b098463a975b7eaad112512fcc4412">HAL::delayMicroseconds</a>(delayUS);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;            <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(stepPin, LOW);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <a class="code" href="class_h_a_l.html#a55b098463a975b7eaad112512fcc4412">HAL::delayMicroseconds</a>(delayUS);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            target--;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <a class="code" href="class_h_a_l.html#a813840b3280404295971569920309215">HAL::pingWatchdog</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <span class="keywordflow">if</span>((target &amp; 127) == 0) {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                <a class="code" href="class_commands.html#a867b2dcbe36145af31cdcf58fe8a2d9a">Commands::checkForPeriodicalActions</a>(<span class="keyword">false</span>);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                                <a class="code" href="class_g_code.html#ac1c015bbe860927e6399d66b500d8cd0">GCode::keepAlive</a>(<a class="code" href="gcode_8h.html#a80335118e5274a875358737bd2daa6caa2c0f5e5c441bfef9c56cdd0ef2210c5b">Processing</a>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                        }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a6b5e1652f108d13a62148de96277c4c1">   88</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a6b5e1652f108d13a62148de96277c4c1">enable</a>()</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, invertEnable);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a896905a12fb4b0eaf3f466333bf1f310">   92</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a896905a12fb4b0eaf3f466333bf1f310">disable</a>()</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, !invertEnable);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="class_stepper_driver.html#a87bb6f71ca03f748b7c5bf11da569331">   96</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver.html#a87bb6f71ca03f748b7c5bf11da569331">home</a>(<span class="keywordtype">bool</span> goToCurrent, <span class="keywordtype">bool</span> onlyIfNotHomed) {}</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;};</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> stepPin, <span class="keywordtype">int</span> dirPin, <span class="keywordtype">int</span> enablePin,<span class="keywordtype">bool</span> invertDir, <span class="keywordtype">bool</span> invertEnable, <span class="keywordtype">int</span> endstopPin, <span class="keywordtype">bool</span> invertEndstop, <span class="keywordtype">bool</span> minEndstop, <span class="keywordtype">bool</span> endstopPullup&gt;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html">  104</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_stepper_driver_with_endstop.html">StepperDriverWithEndstop</a> : <span class="keyword">public</span> <a class="code" href="class_motor_driver_interface.html">MotorDriverInterface</a></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;{</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#af2686da103bf58f36ee54982d23d0522">  106</a></span>&#160;        int32_t <a class="code" href="class_stepper_driver_with_endstop.html#af2686da103bf58f36ee54982d23d0522">position</a>;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a55f89fd285cba5cba244afc8a3a81a30">  107</a></span>&#160;        int32_t <a class="code" href="class_stepper_driver_with_endstop.html#a55f89fd285cba5cba244afc8a3a81a30">delayUS</a>;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a0415312c1843f444b48aa98489331782">  108</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="class_stepper_driver_with_endstop.html#a0415312c1843f444b48aa98489331782">stepsPerMM</a>;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a54ed384365187b220fa69237458feb15">  109</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="class_stepper_driver_with_endstop.html#a54ed384365187b220fa69237458feb15">maxDistance</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a87b55097e1589fb3883ac626fa075d0e">  110</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_stepper_driver_with_endstop.html#a87b55097e1589fb3883ac626fa075d0e">isHomed</a>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">public</span>:</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a6b02f80c75def17eddf7f86515f1ad68">  112</a></span>&#160;        <a class="code" href="class_stepper_driver_with_endstop.html#a6b02f80c75def17eddf7f86515f1ad68">StepperDriverWithEndstop</a>(<span class="keywordtype">float</span> _stepsPerMM,<span class="keywordtype">float</span> speed,<span class="keywordtype">float</span> maxDist)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                stepsPerMM = _stepsPerMM;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                maxDistance = maxDist;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                isHomed = <span class="keyword">false</span>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                position = 0;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                delayUS = 500000 / (speed * stepsPerMM);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#acc2ae2d84f933a74fbc2c08e3d15a2fe">  120</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#acc2ae2d84f933a74fbc2c08e3d15a2fe">initialize</a>() {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(enablePin, OUTPUT);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(stepPin, OUTPUT);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(dirPin, OUTPUT);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                <a class="code" href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a>(endstopPin, endstopPullup ? INPUT_PULLUP : INPUT);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, !invertEnable);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        }</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a024c23b4927f2abc7c1569c79a09ed27">  127</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="class_stepper_driver_with_endstop.html#a024c23b4927f2abc7c1569c79a09ed27">endstopHit</a>() {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                <span class="keywordflow">return</span> invertEndstop ? !<a class="code" href="class_h_a_l.html#a559279e2e1003b2d235a98c862cff642">HAL::digitalRead</a>(endstopPin) : <a class="code" href="class_h_a_l.html#a559279e2e1003b2d235a98c862cff642">HAL::digitalRead</a>(endstopPin);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        }</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#aaf83d4b40a96f982d78403c9a86a7f39">  130</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="class_stepper_driver_with_endstop.html#aaf83d4b40a96f982d78403c9a86a7f39">getPosition</a>()</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                <span class="keywordflow">return</span> position / stepsPerMM;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a81023b60c0f5366314e9d728385bb56c">  134</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#a81023b60c0f5366314e9d728385bb56c">setCurrentAs</a>(<span class="keywordtype">float</span> newPos)</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                position = floor(newPos * stepsPerMM + 0.5f);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        }</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a3ae76c2865d3f32bc7666c35e82c51cc">  138</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#a3ae76c2865d3f32bc7666c35e82c51cc">gotoPosition</a>(<span class="keywordtype">float</span> newPos)</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                <span class="keywordtype">bool</span> up = <span class="keyword">true</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                <span class="keywordflow">if</span>(newPos &lt; 0)</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                        newPos = 0;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                <span class="keywordflow">if</span>(newPos &gt; maxDistance)</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                        newPos = maxDistance;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                <a class="code" href="class_motor_driver_interface.html#a69e7c7b822bcc7914a155249da4aa59d">enable</a>();</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                int32_t target = floor(newPos * stepsPerMM + 0.5f) - position;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                position += target;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                <span class="keywordflow">if</span>(target &gt; 0) {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(dirPin, !invertDir);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                        target = -target;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                        up = <span class="keyword">false</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(dirPin, invertDir);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                <span class="keywordflow">while</span>(target) {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(stepPin, HIGH);</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                        <a class="code" href="class_h_a_l.html#a55b098463a975b7eaad112512fcc4412">HAL::delayMicroseconds</a>(delayUS);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                        <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(stepPin, LOW);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        <a class="code" href="class_h_a_l.html#a55b098463a975b7eaad112512fcc4412">HAL::delayMicroseconds</a>(delayUS);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                        target--;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                        <a class="code" href="class_h_a_l.html#a813840b3280404295971569920309215">HAL::pingWatchdog</a>();</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                        <span class="keywordflow">if</span>((target &amp; 127) == 0) {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                <a class="code" href="class_commands.html#a867b2dcbe36145af31cdcf58fe8a2d9a">Commands::checkForPeriodicalActions</a>(<span class="keyword">false</span>);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                                <a class="code" href="class_g_code.html#ac1c015bbe860927e6399d66b500d8cd0">GCode::keepAlive</a>(<a class="code" href="gcode_8h.html#a80335118e5274a875358737bd2daa6caa2c0f5e5c441bfef9c56cdd0ef2210c5b">Processing</a>);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                        }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                        <span class="keywordflow">if</span>(up != minEndstop) {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                                <span class="keywordflow">if</span>(endstopHit()) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                        isHomed = <span class="keyword">true</span>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                                        <span class="keywordflow">if</span>(minEndstop)</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                                                position = 0;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                                    <span class="keywordflow">else</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                                            <a class="code" href="class_motor_driver_interface.html#aa930597d7cc15c14079b27e693727115">setCurrentAs</a>(maxDistance);</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                                        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                                }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                        }</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                }</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div><div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a28b565621dda735f3da4332fcb88407a">  178</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#a28b565621dda735f3da4332fcb88407a">home</a>(<span class="keywordtype">bool</span> goToCurrent, <span class="keywordtype">bool</span> onlyIfNotHomed) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                <span class="keywordflow">if</span>(onlyIfNotHomed &amp;&amp; isHomed)</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                <span class="keywordtype">float</span> origPosition = <a class="code" href="class_motor_driver_interface.html#a3b61d203b4351ea4c132495aeb817086">getPosition</a>();</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                <span class="keywordflow">if</span>(minEndstop) {</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                        <a class="code" href="class_motor_driver_interface.html#aa930597d7cc15c14079b27e693727115">setCurrentAs</a>(maxDistance);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                        <a class="code" href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">gotoPosition</a>(0);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                        position = 0;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                        <a class="code" href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">gotoPosition</a>(maxDistance);</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                <span class="keywordflow">if</span>(goToCurrent)</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                        <a class="code" href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">gotoPosition</a>(origPosition);</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div><div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#ab95e43fbf54e5e7823ce2f980826b88d">  192</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#ab95e43fbf54e5e7823ce2f980826b88d">enable</a>()</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        {</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, invertEnable);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="class_stepper_driver_with_endstop.html#a319d76967eaea1a3f2bb7be16017e4fa">  196</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_stepper_driver_with_endstop.html#a319d76967eaea1a3f2bb7be16017e4fa">disable</a>()</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        {</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                <a class="code" href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a>(enablePin, !invertEnable);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        }</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;};</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#if defined(NUM_MOTOR_DRIVERS) &amp;&amp; NUM_MOTOR_DRIVERS &gt; 0</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">class </span><a class="code" href="class_g_code.html">GCode</a>;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> commandG201(<a class="code" href="class_g_code.html">GCode</a> &amp;code);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> commandG202(<a class="code" href="class_g_code.html">GCode</a> &amp;code);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> commandG203(<a class="code" href="class_g_code.html">GCode</a> &amp;code);</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> commandG204(<a class="code" href="class_g_code.html">GCode</a> &amp;code);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> commandG205(<a class="code" href="class_g_code.html">GCode</a> &amp;code);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> disableAllMotorDrivers();</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">extern</span> <a class="code" href="class_motor_driver_interface.html">MotorDriverInterface</a> *getMotorDriver(<span class="keywordtype">int</span> idx);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword">extern</span> <span class="keywordtype">void</span> initializeAllMotorDrivers();</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#if defined(SUPPORT_LASER) &amp;&amp; SUPPORT_LASER</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword">class </span>LaserDriver {</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">static</span> <a class="code" href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a> intensity; <span class="comment">// Intensity to use for next move queued. This is NOT the current value!</span></div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">static</span> <a class="code" href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a> intens;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> laserOn; <span class="comment">// Enabled by M3?</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> firstMove ;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a251d0070d19b61290d73f26d1f6e4501">initialize</a>();</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> changeIntensity(<a class="code" href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a> newIntensity);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;};</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#if defined(SUPPORT_CNC) &amp;&amp; SUPPORT_CNC</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">class </span>CNCDriver {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">static</span> int8_t direction;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keyword">static</span> <a class="code" href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a> spindleSpeed;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">static</span> uint16_t spindleRpm;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_motor_driver_interface.html#a251d0070d19b61290d73f26d1f6e4501">initialize</a>();</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> spindleOff();</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> spindleOnCW(int32_t rpm);</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> spindleOnCCW(int32_t rpm);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;};</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="preprocessor">#endif // DRIVERS_H_INCLUDED</span></div><div class="ttc" id="class_stepper_driver_with_endstop_html_a6b02f80c75def17eddf7f86515f1ad68"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a6b02f80c75def17eddf7f86515f1ad68">StepperDriverWithEndstop::StepperDriverWithEndstop</a></div><div class="ttdeci">StepperDriverWithEndstop(float _stepsPerMM, float speed, float maxDist)</div><div class="ttdef"><b>Definition:</b> Drivers.h:112</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a54ed384365187b220fa69237458feb15"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a54ed384365187b220fa69237458feb15">StepperDriverWithEndstop::maxDistance</a></div><div class="ttdeci">float maxDistance</div><div class="ttdef"><b>Definition:</b> Drivers.h:109</div></div>
<div class="ttc" id="class_h_a_l_html_a86625dc0b28afa4b131e70529ad9bf8c"><div class="ttname"><a href="class_h_a_l.html#a86625dc0b28afa4b131e70529ad9bf8c">HAL::digitalWrite</a></div><div class="ttdeci">static void digitalWrite(uint8_t pin, uint8_t value)</div><div class="ttdef"><b>Definition:</b> HAL.h:501</div></div>
<div class="ttc" id="class_g_code_html"><div class="ttname"><a href="class_g_code.html">GCode</a></div><div class="ttdef"><b>Definition:</b> gcode.h:91</div></div>
<div class="ttc" id="class_stepper_driver_html_a18057d0aea5eeb3089f63d935a4033be"><div class="ttname"><a href="class_stepper_driver.html#a18057d0aea5eeb3089f63d935a4033be">StepperDriver::gotoPosition</a></div><div class="ttdeci">void gotoPosition(float newPos)</div><div class="ttdef"><b>Definition:</b> Drivers.h:64</div></div>
<div class="ttc" id="class_stepper_driver_html"><div class="ttname"><a href="class_stepper_driver.html">StepperDriver</a></div><div class="ttdef"><b>Definition:</b> Drivers.h:38</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a28b565621dda735f3da4332fcb88407a"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a28b565621dda735f3da4332fcb88407a">StepperDriverWithEndstop::home</a></div><div class="ttdeci">void home(bool goToCurrent, bool onlyIfNotHomed)</div><div class="ttdef"><b>Definition:</b> Drivers.h:178</div></div>
<div class="ttc" id="class_stepper_driver_html_a3652ed06a18e38715b26346a2ec5ee20"><div class="ttname"><a href="class_stepper_driver.html#a3652ed06a18e38715b26346a2ec5ee20">StepperDriver::delayUS</a></div><div class="ttdeci">int32_t delayUS</div><div class="ttdef"><b>Definition:</b> Drivers.h:41</div></div>
<div class="ttc" id="class_motor_driver_interface_html_a69e7c7b822bcc7914a155249da4aa59d"><div class="ttname"><a href="class_motor_driver_interface.html#a69e7c7b822bcc7914a155249da4aa59d">MotorDriverInterface::enable</a></div><div class="ttdeci">virtual void enable()=0</div></div>
<div class="ttc" id="class_h_a_l_html_a813840b3280404295971569920309215"><div class="ttname"><a href="class_h_a_l.html#a813840b3280404295971569920309215">HAL::pingWatchdog</a></div><div class="ttdeci">static void pingWatchdog()</div><div class="ttdef"><b>Definition:</b> HAL.h:738</div></div>
<div class="ttc" id="class_h_a_l_html_a559279e2e1003b2d235a98c862cff642"><div class="ttname"><a href="class_h_a_l.html#a559279e2e1003b2d235a98c862cff642">HAL::digitalRead</a></div><div class="ttdeci">static uint8_t digitalRead(uint8_t pin)</div><div class="ttdef"><b>Definition:</b> HAL.h:505</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_ab95e43fbf54e5e7823ce2f980826b88d"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#ab95e43fbf54e5e7823ce2f980826b88d">StepperDriverWithEndstop::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdef"><b>Definition:</b> Drivers.h:192</div></div>
<div class="ttc" id="class_motor_driver_interface_html_a251d0070d19b61290d73f26d1f6e4501"><div class="ttname"><a href="class_motor_driver_interface.html#a251d0070d19b61290d73f26d1f6e4501">MotorDriverInterface::initialize</a></div><div class="ttdeci">virtual void initialize()=0</div></div>
<div class="ttc" id="_repetier_8h_html_ab86b7a680d4bf92b92a3f085bdce6332"><div class="ttname"><a href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a></div><div class="ttdeci">uint8_t secondspeed_t</div><div class="ttdef"><b>Definition:</b> Repetier.h:217</div></div>
<div class="ttc" id="class_stepper_driver_html_a87bb6f71ca03f748b7c5bf11da569331"><div class="ttname"><a href="class_stepper_driver.html#a87bb6f71ca03f748b7c5bf11da569331">StepperDriver::home</a></div><div class="ttdeci">void home(bool goToCurrent, bool onlyIfNotHomed)</div><div class="ttdef"><b>Definition:</b> Drivers.h:96</div></div>
<div class="ttc" id="class_motor_driver_interface_html_aa930597d7cc15c14079b27e693727115"><div class="ttname"><a href="class_motor_driver_interface.html#aa930597d7cc15c14079b27e693727115">MotorDriverInterface::setCurrentAs</a></div><div class="ttdeci">virtual void setCurrentAs(float newPos)=0</div></div>
<div class="ttc" id="class_stepper_driver_html_a448a080f2b6d35fae6e66bb3d7af0386"><div class="ttname"><a href="class_stepper_driver.html#a448a080f2b6d35fae6e66bb3d7af0386">StepperDriver::StepperDriver</a></div><div class="ttdeci">StepperDriver(float _stepsPerMM, float speed)</div><div class="ttdef"><b>Definition:</b> Drivers.h:44</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a81023b60c0f5366314e9d728385bb56c"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a81023b60c0f5366314e9d728385bb56c">StepperDriverWithEndstop::setCurrentAs</a></div><div class="ttdeci">void setCurrentAs(float newPos)</div><div class="ttdef"><b>Definition:</b> Drivers.h:134</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_af2686da103bf58f36ee54982d23d0522"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#af2686da103bf58f36ee54982d23d0522">StepperDriverWithEndstop::position</a></div><div class="ttdeci">int32_t position</div><div class="ttdef"><b>Definition:</b> Drivers.h:106</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a319d76967eaea1a3f2bb7be16017e4fa"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a319d76967eaea1a3f2bb7be16017e4fa">StepperDriverWithEndstop::disable</a></div><div class="ttdeci">void disable()</div><div class="ttdef"><b>Definition:</b> Drivers.h:196</div></div>
<div class="ttc" id="class_stepper_driver_html_a44d4de4f1856f493e9e104072a382c74"><div class="ttname"><a href="class_stepper_driver.html#a44d4de4f1856f493e9e104072a382c74">StepperDriver::setCurrentAs</a></div><div class="ttdeci">void setCurrentAs(float newPos)</div><div class="ttdef"><b>Definition:</b> Drivers.h:60</div></div>
<div class="ttc" id="class_motor_driver_interface_html_a53344d16c0bb4c6c90ae7b85369eb861"><div class="ttname"><a href="class_motor_driver_interface.html#a53344d16c0bb4c6c90ae7b85369eb861">MotorDriverInterface::home</a></div><div class="ttdeci">virtual void home(bool goToCurrent, bool onlyIfNotHomed)=0</div></div>
<div class="ttc" id="class_motor_driver_interface_html"><div class="ttname"><a href="class_motor_driver_interface.html">MotorDriverInterface</a></div><div class="ttdef"><b>Definition:</b> Drivers.h:22</div></div>
<div class="ttc" id="gcode_8h_html_a80335118e5274a875358737bd2daa6caa2c0f5e5c441bfef9c56cdd0ef2210c5b"><div class="ttname"><a href="gcode_8h.html#a80335118e5274a875358737bd2daa6caa2c0f5e5c441bfef9c56cdd0ef2210c5b">Processing</a></div><div class="ttdef"><b>Definition:</b> gcode.h:24</div></div>
<div class="ttc" id="class_stepper_driver_html_ad7a5451d7933609efbb0514614fcd381"><div class="ttname"><a href="class_stepper_driver.html#ad7a5451d7933609efbb0514614fcd381">StepperDriver::getPosition</a></div><div class="ttdeci">float getPosition()</div><div class="ttdef"><b>Definition:</b> Drivers.h:56</div></div>
<div class="ttc" id="class_stepper_driver_html_ae838bcd42cf03702990df0e65c1e65c8"><div class="ttname"><a href="class_stepper_driver.html#ae838bcd42cf03702990df0e65c1e65c8">StepperDriver::stepsPerMM</a></div><div class="ttdeci">float stepsPerMM</div><div class="ttdef"><b>Definition:</b> Drivers.h:42</div></div>
<div class="ttc" id="class_commands_html_a867b2dcbe36145af31cdcf58fe8a2d9a"><div class="ttname"><a href="class_commands.html#a867b2dcbe36145af31cdcf58fe8a2d9a">Commands::checkForPeriodicalActions</a></div><div class="ttdeci">static void checkForPeriodicalActions(bool allowNewMoves)</div><div class="ttdef"><b>Definition:</b> Commands.cpp:61</div></div>
<div class="ttc" id="class_motor_driver_interface_html_a3b61d203b4351ea4c132495aeb817086"><div class="ttname"><a href="class_motor_driver_interface.html#a3b61d203b4351ea4c132495aeb817086">MotorDriverInterface::getPosition</a></div><div class="ttdeci">virtual float getPosition()=0</div></div>
<div class="ttc" id="class_stepper_driver_html_a6b5e1652f108d13a62148de96277c4c1"><div class="ttname"><a href="class_stepper_driver.html#a6b5e1652f108d13a62148de96277c4c1">StepperDriver::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdef"><b>Definition:</b> Drivers.h:88</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a3ae76c2865d3f32bc7666c35e82c51cc"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a3ae76c2865d3f32bc7666c35e82c51cc">StepperDriverWithEndstop::gotoPosition</a></div><div class="ttdeci">void gotoPosition(float newPos)</div><div class="ttdef"><b>Definition:</b> Drivers.h:138</div></div>
<div class="ttc" id="class_stepper_driver_html_a543614e9c9b1027364b90e821487fa74"><div class="ttname"><a href="class_stepper_driver.html#a543614e9c9b1027364b90e821487fa74">StepperDriver::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdef"><b>Definition:</b> Drivers.h:50</div></div>
<div class="ttc" id="class_motor_driver_interface_html_add1af7909fcd39986d3667a533764c5b"><div class="ttname"><a href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">MotorDriverInterface::gotoPosition</a></div><div class="ttdeci">virtual void gotoPosition(float newPos)=0</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a87b55097e1589fb3883ac626fa075d0e"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a87b55097e1589fb3883ac626fa075d0e">StepperDriverWithEndstop::isHomed</a></div><div class="ttdeci">bool isHomed</div><div class="ttdef"><b>Definition:</b> Drivers.h:110</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_aaf83d4b40a96f982d78403c9a86a7f39"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#aaf83d4b40a96f982d78403c9a86a7f39">StepperDriverWithEndstop::getPosition</a></div><div class="ttdeci">float getPosition()</div><div class="ttdef"><b>Definition:</b> Drivers.h:130</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html"><div class="ttname"><a href="class_stepper_driver_with_endstop.html">StepperDriverWithEndstop</a></div><div class="ttdef"><b>Definition:</b> Drivers.h:104</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_acc2ae2d84f933a74fbc2c08e3d15a2fe"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#acc2ae2d84f933a74fbc2c08e3d15a2fe">StepperDriverWithEndstop::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdef"><b>Definition:</b> Drivers.h:120</div></div>
<div class="ttc" id="class_h_a_l_html_a55b098463a975b7eaad112512fcc4412"><div class="ttname"><a href="class_h_a_l.html#a55b098463a975b7eaad112512fcc4412">HAL::delayMicroseconds</a></div><div class="ttdeci">static void delayMicroseconds(unsigned int delayUs)</div><div class="ttdef"><b>Definition:</b> HAL.h:514</div></div>
<div class="ttc" id="class_stepper_driver_html_a1d13e0cfb4fb994865b87ede30fe88e0"><div class="ttname"><a href="class_stepper_driver.html#a1d13e0cfb4fb994865b87ede30fe88e0">StepperDriver::position</a></div><div class="ttdeci">int32_t position</div><div class="ttdef"><b>Definition:</b> Drivers.h:40</div></div>
<div class="ttc" id="class_stepper_driver_html_a896905a12fb4b0eaf3f466333bf1f310"><div class="ttname"><a href="class_stepper_driver.html#a896905a12fb4b0eaf3f466333bf1f310">StepperDriver::disable</a></div><div class="ttdeci">void disable()</div><div class="ttdef"><b>Definition:</b> Drivers.h:92</div></div>
<div class="ttc" id="class_motor_driver_interface_html_a456be25e18f028ff5dae9264228dc550"><div class="ttname"><a href="class_motor_driver_interface.html#a456be25e18f028ff5dae9264228dc550">MotorDriverInterface::disable</a></div><div class="ttdeci">virtual void disable()=0</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a55f89fd285cba5cba244afc8a3a81a30"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a55f89fd285cba5cba244afc8a3a81a30">StepperDriverWithEndstop::delayUS</a></div><div class="ttdeci">int32_t delayUS</div><div class="ttdef"><b>Definition:</b> Drivers.h:107</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a024c23b4927f2abc7c1569c79a09ed27"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a024c23b4927f2abc7c1569c79a09ed27">StepperDriverWithEndstop::endstopHit</a></div><div class="ttdeci">bool endstopHit()</div><div class="ttdef"><b>Definition:</b> Drivers.h:127</div></div>
<div class="ttc" id="class_stepper_driver_with_endstop_html_a0415312c1843f444b48aa98489331782"><div class="ttname"><a href="class_stepper_driver_with_endstop.html#a0415312c1843f444b48aa98489331782">StepperDriverWithEndstop::stepsPerMM</a></div><div class="ttdeci">float stepsPerMM</div><div class="ttdef"><b>Definition:</b> Drivers.h:108</div></div>
<div class="ttc" id="class_h_a_l_html_a721b2765f2dcb2a8a4f5fea28d551136"><div class="ttname"><a href="class_h_a_l.html#a721b2765f2dcb2a8a4f5fea28d551136">HAL::pinMode</a></div><div class="ttdeci">static void pinMode(uint8_t pin, uint8_t mode)</div><div class="ttdef"><b>Definition:</b> HAL.h:509</div></div>
<div class="ttc" id="class_g_code_html_ac1c015bbe860927e6399d66b500d8cd0"><div class="ttname"><a href="class_g_code.html#ac1c015bbe860927e6399d66b500d8cd0">GCode::keepAlive</a></div><div class="ttdeci">static void keepAlive(enum FirmwareState state)</div><div class="ttdef"><b>Definition:</b> gcode.cpp:157</div></div>
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